Electrostatic tactile display with thin film slider and its application to tactile telepresentation systems

Yamamoto, Akio; Nagasawa, Shuichi; Yamamoto, Hirotsugu; Higuchi, Toshiro

doi:10.1109/tvcg.2006.28

Cited by 135 publications

(66 citation statements)

References 18 publications

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“…A more recently introduced technique is to modulate the friction force between the finger and a mechanically grounded active surface. The friction force modulation can be achieved, for instance, by electrostatic fields [26], ultrasonic amplitude modulation [27], surface acoustic waves [28] or with the squeezed film effect [29], [30].…”

Section: Roughness and Texture In Manufacturing And Virtual Realitymentioning

confidence: 99%

The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture

2011

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Abstract-The tactual scanning of five naturalistic textures was recorded with an apparatus capable of measuring the tangential interaction force with a high degree of temporal and spatial resolution. The resulting signal showed that the transformation from the geometry of a surface to the force of traction, and hence to the skin deformation experienced by a finger is a highly nonlinear process. Participants were asked to identify simulated textures reproduced by stimulating their fingers with rapid, imposed lateral skin displacements as a function of net position. They performed the identification task with a high degree of success, yet not perfectly. The fact that the experimental conditions eliminated many aspects of the interaction, including low-frequency finger deformation, distributed information, as well as normal skin movements, shows that the nervous system is able to rely on only two cues: amplitude and spectral information. The examination of the "spatial spectrograms" of the imposed lateral skin displacement revealed that texture could be represented spatially despite being sensed through time and that these spectrograms were distinctively organized into what could be called "spatial formants". This finding led us to speculate that the mechanical properties of the finger enables spatial information to be used for perceptual purposes in humans without any distributed sensing, a principle that could be applied to robots.

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Section: Roughness and Texture In Manufacturing And Virtual Realitymentioning

confidence: 99%

The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture

2011

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“…The behavior of interdigital electrodes in the context of electroadhesion has recently been studied extensively [8,11,12]. Electroadhesion has also been applied to surface haptic displays [13][14][15][16][17][18], in which electroadhesion modulates friction on a transparent electrode that covers an LCD surface, to create haptic effects. In those haptic applications, planar electrodes have been preferred, rather than inter-digital electrodes.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, studies in the field of haptics reported that their electroadhesion force decreases under a constant DC voltage applications [13,16,22]. In those studies, less conductive materials are used as surface insulators, whereas electrostatic chucks intentionally add some conductivity to the insulating materials.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of electroadhesion force in DC voltage

Nakamura

Yamamoto

2017

Robomech J

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In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electric field, even if the voltage difference between the plates is constant, electroadhesion force increases or decreases over time depending on the insulating materials. The increase had been explained by Johnsen-Rahbek (JR) model, but the decrease had not been focused or modeled by physically meaningful way. In addition, the previous models did not explicitly consider the mechanical behaviors of the electrodes, although the mechanical behaviors considerably affect the response. In this work, we introduced a new model that combines both electrical and mechanical behaviors. The electrical part, which is based on JR model, explained the force decrease under DC field, in addition to the force increase that had been explained using JR model. The mechanical part was represented by a combination of a spring and a damper. Numerical simulations using the model successfully reproduced characteristics behaviors of electroadhesion force, which include force decay under constant voltages and relatively smaller initial force. Using the inverse model, we carried out experiments to control dynamic responses of electroadhesion force, which successfully controlled force responses against pulse voltages. Through the experiments, we also showed the importance of the neutralization of surface charges for obtaining reproducible responses.

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“…The results of the study showed that the sensitivity of the subjects to the positive pulses was less than that of the negative or biphasic pulses. Yamamato et al [3] developed a telepresentation system for tactile exploration of remote surface textures. This system was made of two parts: a tactile sensor on the slave site and a tactile display utilizing an electrostatic actuator on the master site.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Modeling of a Vibrating Touch Screen Actuated by Piezo Patches for Haptic Feedback

Baylan

Aridogan

Başdoğan

2012

Haptics: Perception, Devices, Mobility, and Communication

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Abstract. The aim of our work is to design a touch screen for displaying vibrotactile haptic feedback to the user via piezo patches attached to its surface. One of the challenges in the design is the selection of appropriate boundary conditions and the piezo configurations (location and orientation) on the screen for achieving optimum performance within the limits of human haptic perception. To investigate the trade-offs in our design, we developed a finite element model of the screen and four piezo actuators attached to its surface in ABAQUS. The model utilizes the well-known Hooke's law between stress and strain extended by piezoelectric coupling. After selecting the appropriate boundary condition for the screen based on the range of vibration frequencies detectable by a human finger, the optimum configuration for the piezo patches is determined by maximizing the vibration amplitude of the screen for a unit micro Coulomb charge applied to each piezo patch. The results of our study suggest that the piezo patches should be placed close to the clamped sides of the screen where the boundary conditions are applied.Keywords: touch screen, vibrotactile haptic feedback, finite element modeling, piezo patch actuators. IntroductionThe touch screens replace the mechanical buttons on mobile devices, touch pads, tablet PCs and other displays. While the screens available in the market today are sensitive to touch inputs and gestures, they do not enable the user to feel any programmable resistive forces as her/his finger moves on its surface. However, it is desirable to display some of the information through haptic channel in mobile devices, touch pads, tablet PCs and other interactive displays in order to alleviate the perceptual and cognitive load of the user since our visual and auditory channels are already highly overloaded. Moreover, haptic feedback is more personal and intimate than visual and auditory feedback and hence can enrich the user experience and perception of the interaction. We anticipate that the use of haptic feedback as an additional information channel in interactive displays will result in a new interaction paradigm, and enable novel applications in games, entertainment, education, internet-based business, and many more.

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Electrostatic tactile display with thin film slider and its application to tactile telepresentation systems

Cited by 135 publications

References 18 publications

The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture

The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture

Modeling and control of electroadhesion force in DC voltage

Finite Element Modeling of a Vibrating Touch Screen Actuated by Piezo Patches for Haptic Feedback

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